#!/usr/bin/env python
PACKAGE = "auv_passive_sonar_driver"
import roslib;roslib.load_manifest(PACKAGE)

from dynamic_reconfigure.parameter_generator import *

gen = ParameterGenerator()

gen.add("port_name", str_t, 0, "ex: /dev/ttyUSB1", "/dev/passive_sonar")

gen.add("SampleFrequency", int_t, 0, "Sample Frequency", 4000000, 16000000, 14745600)
gen.add("SpeedOfSound", int_t, 0, "Speed of Sound", 1000, 2000, 1500)

gen.add("Hydrophone_0_x", double_t, 0, "Hydrophone #0 x", 0.59000, -1.0, 1.0)
gen.add("Hydrophone_0_y", double_t, 0, "Hydrophone #0 y", 0.0, -1.0, 1.0)

gen.add("Hydrophone_1_x", double_t, 0, "Hydrophone #1 x", 0.0, -1.0, 1.0)
gen.add("Hydrophone_1_y", double_t, 0, "Hydrophone #1 y", 0.133, -1.0, 1.0)

gen.add("Hydrophone_2_x", double_t, 0, "Hydrophone #2 x", 0.0, -1.0, 1.0)
gen.add("Hydrophone_2_y", double_t, 0, "Hydrophone #2 y", -0.133, -1.0, 1.0)

gen.add("competitionMode", bool_t, 0, "Competition Mode", True)

exit(gen.generate(PACKAGE, "auv_passive_sonar_driver", "auv"))

